Real physics, in this tab. Nothing to install and no account. The first run downloads the robot runtime, about 14 MB.

Robot arm · Franka Emika Panda

green then blue to right tray

Pick the green block then the blue block and place each in the right tray.

taught their robot this by typing a sentence. It ran successfully, so it was published. What you see is the same program running against the same physics.

Model and meshes: MuJoCo Menagerie · Franka Emika Panda, Apache-2.0.

green_then_blue_to_right_tray.py

META = {"name": "green_then_blue_to_right_tray", "description": "Pick the green block then the blue block and place each in the right tray.", "params": {"arm": "arm"}}

def run(ctx, **params):
    arm = params.get("arm", "arm")
    scene = ctx.describe_scene()
    tray = scene["fixtures"]["tray_right"]
    open_g, closed_g = ctx.gripper_range(arm)
    tx, ty, tz = tray["position"]
    for name in ("green_block", "blue_block"):
        p = ctx.describe_scene()["objects"][name]["position"]
        above = [p[0], p[1], p[2] + 0.12]
        ctx.gripper(arm, open_g)
        ctx.move_to_point(arm, above)
        ctx.move_to_point(arm, p)
        ctx.gripper(arm, closed_g)
        ctx.move_to_point(arm, above)
        high = [tx, ty, tz + 0.22]
        ctx.move_to_point(arm, high)
        release = [tx, ty, tz + 0.08]
        ctx.move_to_point(arm, release)
        ctx.gripper(arm, open_g)
        ctx.move_to_point(arm, high)